SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2658, 2656, 6233, 2653, 4001, 4254, 2692, 
    2800, 2837, 2843
  )

Query time 0.00067

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "49.90"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 122,
      "rows_produced_per_join": 122,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "25.50",
        "eval_cost": "24.40",
        "prefix_cost": "49.90",
        "data_read_per_join": "723K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`webmarco`.`cscart_categories`.`parent_id` in (2658,2656,6233,2653,4001,4254,2692,2800,2837,2843))"
    }
  }
}